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\lhead{Doplnit název předmětu}
\rhead{Matouš Raisigl, raisimat@fel.cvut.cz}
$$
\varepsilon(k+1)=A_{k,0}\varepsilon(k)+B_{k,0}u(k)+\hat{\varepsilon}_0(k+1)-A_{k,0}\hat{\varepsilon}_0(k)-B_{k,0}u_0
$$
$$
\varepsilon(k+2)=A_{k,0}\varepsilon(k+1)+B_{k,0}u(k+1)+\hat{\varepsilon}_0(k+2)-A_{k,0}\hat{\varepsilon}_0(k+1)-B_{k,0}u_0
$$
\begin{align*}
\varepsilon(k+2)=A_{k,0}A_{k,0}\varepsilon(k)+A_{k,0}B_{k,0}u(k)+A_{k,0}\hat{\varepsilon}_0(k+1)-A_{k,0}A_{k,0}\hat{\varepsilon}_0(k)- \\A_{k,0}B_{k,0}u_0+B_{k,0}u(k+1)+\hat{\varepsilon}_0(k+2)-A_{k,0}\hat{\varepsilon}_0(k+1)-B_{k,0}u_0
\end{align*}

\end{document}